@misc{DTTDv2,
      title={Robust Digital-Twin Localization via An RGBD-based Transformer Network and A Comprehensive Evaluation on a Mobile Dataset}, 
      author={Zixun Huang and Keling Yao and Seth Z. Zhao and Chuanyu Pan and Tianjian Xu and Weiyu Feng and Allen Y. Yang},
      year={2023},
      eprint={2309.13570},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}